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WO1999009385A1 - Transducteur de couple - Google Patents

Transducteur de couple Download PDF

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Publication number
WO1999009385A1
WO1999009385A1 PCT/AU1998/000645 AU9800645W WO9909385A1 WO 1999009385 A1 WO1999009385 A1 WO 1999009385A1 AU 9800645 W AU9800645 W AU 9800645W WO 9909385 A1 WO9909385 A1 WO 9909385A1
Authority
WO
WIPO (PCT)
Prior art keywords
torque
torque transducer
regions
array
grating element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/AU1998/000645
Other languages
English (en)
Inventor
Karl Yarnos Eisenhauer
John Baxter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bishop Innovation Pty Ltd
Original Assignee
Bishop Innovation Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AUPO8566A external-priority patent/AUPO856697A0/en
Priority claimed from AUPO9847A external-priority patent/AUPO984797A0/en
Priority claimed from AUPP1676A external-priority patent/AUPP167698A0/en
Priority claimed from AUPP3142A external-priority patent/AUPP314298A0/en
Priority to KR10-2000-7001477A priority Critical patent/KR100482248B1/ko
Priority to BR9811201-5A priority patent/BR9811201A/pt
Priority to EP98938524A priority patent/EP1004009B1/fr
Priority to JP2000510002A priority patent/JP2001516013A/ja
Priority to AU87206/98A priority patent/AU728346B2/en
Application filed by Bishop Innovation Pty Ltd filed Critical Bishop Innovation Pty Ltd
Priority to DE69802291T priority patent/DE69802291T2/de
Priority to CA002307038A priority patent/CA2307038A1/fr
Priority to US09/463,980 priority patent/US6450044B1/en
Publication of WO1999009385A1 publication Critical patent/WO1999009385A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/08—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving optical means for indicating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/12—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving photoelectric means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering

Definitions

  • This invention relates to torque transducers for measuring the magnitude of torque in shafts, in particular rotating shafts such as found in electric power steering systems in vehicle applications.
  • Electric power steering systems conventionally incorporate an input shaft element, connected via an intermediate shaft and Hookes joint arrangement to the steering wheel.
  • the input shaft therefore needs to rotate through an angle typically one to two revolutions either side of the on-centre steering position.
  • the input shaft is at least partially surrounded by the fixed housing of the steering gear. It is a requirement of the electric power steering servo system to accurately measure the continuously varying torque in this rotating shaft.
  • Conventionally torque applied to the shaft causes it to angularly deflect, such deflection causing one part of the shaft to angularly displace with respect to another part, and this displacement is sensed to provide a measurement of this torque.
  • Non-contact means include optical aperture based devices and magnetic devices such as magnetostrictive or variable reluctance couplings.
  • Mechanical means include slidably connected potentiometers and other indicating devices.
  • a torsionally compliant coupling in the form of a torsion bar is used to connect the two input members at either end of the shaft.
  • torque is applied between the two input members the torsion bar deflects causing an increased angular displacement, which allows the use of less sensitive, or less accurate sensing means.
  • the torsion bar may be in the form of a separate element as in the case of a conventional rotary hydraulic power steering valve.
  • the torsion bar may in fact be integral with the shaft member and be a relatively torsionally compliant (ie. less torsionally stiff) portion of the shaft member which couples substantially rigid torque input members at each end of the shaft member.
  • the shaft member in these latter systems can be readily machined as a single steel component, and the only requirement is that the angular deflection of the relatively torsionally compliant coupling portion, connecting the two substantially rigid torque input member portions, has sufficiently low torsional stiffness that the sensing system is able to accurately measure its angular deflection.
  • a torsion bar requires the use of a failsafe mechanism, being a torque limiting device to prevent failure of the torsion bar when unavoidable torque overload conditions occur.
  • the essence of the present invention resides in the provision of grating elements comprising surfaces composed of alternating regions of high and low reflectivity connected by a torsionally compliant coupling. These surfaces are illuminated by a source of electro-magnetic radiation (EMR), typically UV, visible or IR light, which generates patterns on one or more arrays of detectors sensitive to the EMR. Arrays include CCD devices, VLSI vision chips, one and 2 dimensional photodetector arrays and lateral effect photodiodes (commonly referred to as PSD's or position sensitive devices). The disposition of the patterns is a function of torque applied to the shaft, and the output of the one or more arrays can be processed to produce a measure of the torque applied to the shaft.
  • EMR electro-magnetic radiation
  • the regions of high and low reflectivity can be arranged axially or radially about the axis of rotation of the shaft, and are of such a nature that allows a continuous output of the arrays regardless of the angular position of the shaft, as the limited array dimensions may not allow the complete circumference or radial face to be viewed by the arrays at any instant in time.
  • the advantages of such a construction over that disclosed in U.S. Patent 5,369,583 and International Application Number PCT/GB95/02017 may arise as one or more of the following:
  • the use of reflective grating elements allows simpler and more compact construction by the use of a cylindrical grating element arrangement, which is not readily achievable using disc apertures as shown in the prior art without requiring a significantly increased diameter. It also allows the EMR source(s) and array(s) to be packaged in the same assembly with further savings in space and cost.
  • the use of reflective grating elements allows the use of well known and accurate photographic or metallising techniques, for example metal on glass.
  • the use of these techniques with apertures may result in loss of resolution or other problems from internal reflection, diffraction or degradation over time as the EMR has to travel through the glass between the metallised regions.
  • the use of reflective grating elements allow the use of intermeshed castellations which can provide a lost motion connection limiting the maximum angular deflection of the torsion bar, thereby eliminating the need for a separate torque limiting device and reducing the cost and complexity of the transducer.
  • the present invention consists in a torque transducer comprising a rotating shaft at least partially surrounded by a fixed housing, the axis of rotation of the shaft fixed with respect to the housing, the shaft comprising first and second substantially rigid torque input members which are connected by a torsionally compliant coupling, the coupling thereby enabling angular deflection of the first torque input member relative to the second torque input member as a function of the magnitude of the torque in the shaft, a first grating element attached to or integral with the first torque input member and a second grating element attached to or integral with the second torque input member, the first grating element comprising a first surface and the second grating element comprising a second surface, the transducer also comprising one or more electro-magnetic radiation (EMR) sources and one or more arrays of EMR sensitive detectors, characterised in that each source irradiates one or both of the surfaces and each array receives incident EMR reflected from one or both of the surfaces, the one or more sources irradiating each
  • a first array receives incident EMR reflected from a first surface and results in a first pattern
  • a second array receives incident EMR reflected from a second surface and results in a second pattern
  • the processor receives inputs from the first and second arrays, and the processor comprises software or hardware electronic means to determine the relative displacement of the first and second patterns.
  • the first and second surfaces are either mutually adjacent or contiguous
  • a single array receives incident EMR reflected from both first and second surfaces and results in a single pattern
  • the pattern comprises a first subpattern produced by the incident EMR reflected from the first surface and a second subpattern produced by the incident EMR reflected from the second surface.
  • the processor receives inputs from the single array, and the processor comprises software or hardware electronic means to determine the relative displacement of the first and second subpatterns.
  • the single pattern is an interdigital pattern comprising the first subpattern interposed between the second subpattern.
  • At least one of first or second surfaces is substantially cylindrical with a central axis collinear with the axis of rotation of the shaft, and the array, which receives incident EMR reflected from the at least one surface, is positioned radially inside or outside the surface.
  • the at least one substantially cylindrical surface is discontinuous due the respective grating element comprising radially protruding castellations around its periphery, the castellations are substantially axially aligned, the regions of high reflectivity correspond to the areas of maximum radius of the castellations with respect to the central axis of the cylindrical surface, and the regions of low reflectivity are angularly aligned with the discontinuous gap areas or lesser radius areas between the castellations.
  • the grating element is manufactured from metal or plastic material and the areas of maximum radius are smoothly machined, moulded or sintered, or surface treated with paint or material deposition to impart high reflectivity, and the discontinuous gap areas or lesser radius areas are machined, moulded or sintered, or surface treated with paint or material deposition to impart low reflectivity.
  • the at least one substantially cylindrical surface is substantially continuous due to the respective grating element comprising a substantially smooth cylinder, the inside or outside surface of the cylinder comprising the alternating regions of high and low reflectivity, and the regions are substantially axially aligned.
  • the regions of high reflectivity are metallised, shiny or light coloured and the regions of low reflectivity are substantially transparent, roughened or dark coloured.
  • the at least one of first or second surfaces is substantially radially disposed with respect to the axis of rotation of the shaft, and the array, which receives incident EMR reflected from the at least one surface, is positioned axially on one side of the surface.
  • the at least one substantially radially disposed surface is discontinuous due to the respective grating element comprising axially protruding castellations around its periphery, the castellations are substantially radially disposed, the regions of high reflectivity correspond to the areas of maximum axial protrusion of the castellations, and the regions of low reflectivity are angularly aligned with the discontinuous gap areas or less axially protruding areas between the castellations.
  • the grating element is manufactured from metal or plastic material, the areas of maximum axial protrusion are smoothly machined, moulded or sintered, or surface treated with paint or material deposition to impart high reflectivity, and the discontinuous gap areas or less axially protruding areas are machined, moulded or sintered, or surface treated with paint or material deposition to impart low reflectivity.
  • the at least one substantially radially disposed surface is substantially continuous due to the respective grating element comprising a substantially smooth disc or planar ring, one side of the disc or planar ring comprising the alternating regions of high and low reflectivity, the regions are substantially radially disposed, the regions of high reflectivity are metallised, shiny or light coloured, and the regions of low reflectivity are substantially transparent, roughened or dark coloured.
  • the array comprises a one dimensional or a two dimensional array, a CCD, a VLSI vision chip or a lateral effect photodiode.
  • the pattern or patterns is also processed by a processor to derive angular velocity and/or the relative angular position of at least one of the torque input members.
  • the surface of at least one grating element includes areas or additional regions of high or low reflectivity whose resulting pattern is also processed to derive absolute angular position of the torque input member to which the at least one grating element is attached to or integral with.
  • the alternating regions of high and low reflectivity on the surface of the at least one grating element are arranged in the form of a succession of individual binary bar codes arranged such that the individual bar codes do not overlap.
  • the alternating regions of high and low reflectivity on the surface of the at least one grating element are arranged in the form of a succession of individual bar codes arranged such that the individual bar codes overlap.
  • the resulting pattern on the respective array is processed to derive the absolute angular position of the torque input member to which the at least one grating element is attached to or integral with. It is preferred that a succession of binary bar codes are employed on both grating elements and the difference in the absolute angular position of the first and second torque input members is used to provide a measure of the magnitude of the torque in the shaft.
  • first and second grating elements are adjacent and comprise radially extending intermeshing castellations, clearance being provided between the castellations and thereby providing a rotational lost motion connection between the first and second torque input members and hence limiting the maximum angular deflection of the torsionally compliant coupling.
  • Fig. 1 is a diagrammatic view of two torque input members connected by a torsion bar, showing the regions of high and low reflectivity on the surfaces of the grating elements and the associated two arrays,
  • Fig. 2 is a cross section of torque transducer according to a first embodiment of the present invention based on the concept shown in Fig. 1 ,
  • Fig. 3 is a diagrammatic view of two torque input members connected by a torsion bar, showing the regions of high and low reflectivity on the surfaces of the adjacent grating elements and the associated single array,
  • Fig. 4 is an exploded isometric view of an interdigital arrangement of two grating elements comprising castellations
  • Fig. 5 is another view of Fig. 4 showing the actual relationship of the two grating elements and the associated single array
  • Fig. 6 is cross section of a torque transducer according to a second embodiment of the present invention, based on the concept shown in Figs. 4 and 5
  • Fig. 7 is a cross section of the failsafe mechanism in the embodiments shown in
  • Fig. 8 is a cross section of a torque transducer according to a third embodiment of the present invention, utilising grating elements comprising substantially smooth cylindrical surfaces, Fig. 9 shows details of the grating elements of the torque transducer shown in Fig.
  • Fig. 10 is a diagrammatic view similar to Fig. 1 but showing grating elements with radially disposed surfaces
  • Fig. 1 1 is a cross section of torque transducer according to a fourth embodiment of the present invention, based on the concept shown in Fig. 10,
  • Fig. 12 is a cross section of a torque transducer according to a fifth embodiment of the present invention employing axially protruding, rather than radially protruding, castellations,
  • Figs. 13 and 14 show exploded and assembled isometric views respectively of the axially protruding interdigital castellations shown on Fig. 12,
  • Fig. 15 is a diagrammatic view of two input torque members and attached grating elements with radially disposed surfaces,
  • Fig. 16 is a cross section of a torque transducer according to a sixth embodiment of the present invention, based on the concept shown in Fig. 15,
  • Figs. 17 and 18 show exploded and assembled perspective views respectively of interdigitally meshed grating elements comprising castellations which also provide a failsafe mechanism
  • Fig. 19 shows an alternative version of the third embodiment of the present invention allowing also the measurement of absolute angular position of one of the torque input members
  • Fig. 20a shows typical patterns produced on the first and second arrays according the first embodiment of the present invention, where these arrays are two dimensional arrays,
  • Fig. 20b shows typical patterns produced on the first and second arrays according the first embodiment of the present invention, where these arrays are one dimensional arrays,
  • Fig. 21a shows a typical pattern produced on the single array according to the second embodiment of the present invention, where this array is a two dimensional array
  • Fig. 21 b shows a typical pattern produced on the single array according to the second embodiment of the present invention, where this array is a one dimensional array
  • Fig. 22 shows a typical pattern produced on the single two dimensional array according to the third embodiment of the present invention
  • Fig. 23a shows typical patterns produced on the first and second arrays according to the fourth embodiment of the present invention, where these arrays are two dimensional arrays,
  • Fig. 23b shows typical patterns produced on the first and second arrays according to the fourth embodiment of the present invention, where these arrays are one dimensional arrays
  • Fig. 24a shows a typical pattern produced on the single array according to the fifth embodiment of the present invention, where this array is a two dimensional array
  • Fig. 24b shows a typical pattern produced on the single array according to the fifth embodiment of the present invention, where this array is a one dimensional array
  • Fig. 25 shows a typical pattern produced on the single two dimensional array according to the sixth embodiment of the present invention
  • Figs. 26a-e show successive relative positions of the grating elements for another alternative version of the third embodiment of the present invention allowing also the measurement of absolute angular position of the torque input members
  • Fig. 27 shows details of the regions of high and low reflectivity on one of the binary bar codes shown in Figs. 26a-e,
  • Figs. 28a and 28b show successive relative positions of the grating elements for yet another alternative version of the third embodiment of the present invention allowing also the measurement of absolute angular position of the torque input members, and Fig. 29 shows details of the regions of high and low reflectivity on one of the binary bar codes shown in Figs. 28a and 28b.
  • Fig. 1 shows grating elements 3 and 4 attached to torque input members 1a and 1b of the shaft at either end of a torsionally compliant coupling in the form of torsion bar 2.
  • Grating elements 3 and 4 comprise surfaces composed of alternating regions of high and low reflectivity. Electromagnetic radiation (EMR) sources 5 and 6 are disposed to illuminate the surfaces. Arrays 7 and 8 of EMR sensitive detectors receive incident EMR from the surfaces and the patterns thus generated on arrays 7 and 8 are processed by processor 9.
  • EMR Electromagnetic radiation
  • Fig. 2 shows a cross section of a torque transducer according to a first embodiment of the present invention, using the principles shown in Fig. 1.
  • Cylindrical grating elements 3 and 4 comprising surfaces composed of alternating high and low reflectivity, are attached to torque input members 1a and 1b which are connected to either end of the torsion bar 2.
  • either (or both) grating elements may be integral with their respective torque input members.
  • the assembly is enclosed in housing 10 and supported by bearings 11 and 12.
  • EMR sources 5 and 6 are disposed to illuminate the surfaces.
  • Arrays 7 and 8 of detectors receive incident EMR from the surfaces and the patterns thus generated on the arrays are processed by a processor 9 to provide a measurement of torque.
  • Failsafe mechanism 15 limits the maximum torque carried by the torsion bar 2 by providing a limit to the amount of angular deflection of torque input member 1a with respect to torque input member 1 b. Such a failsafe mechanism is well known in the art of power steering.
  • Fig. 3 shows another embodiment.
  • Cylindrical grating elements 17 and 18, each comprising a continuous cylindrical surface composed of substantially axially aligned regions of alternating high and low reflectivity, are attached to torque input members 1 a and 1 b respectively which are in turn connected to either end of the torsion bar 2.
  • Grating elements 17 and 18 are arranged such that they are adjacent.
  • EMR source 19 is arranged to illuminate both surfaces, and the array 20 of detectors receives incident EMR from both surfaces and the pattern thus generated on the array is processed by the processor 9 to provide a measurement of torque.
  • Figs. 4, 5 and 6 shows a second embodiment of the present invention.
  • Cylindrical grating elements 21 and 22 are attached to torque input members 1a and 1 b, connected to either end of the torsion bar 2.
  • the outer cylindrical surfaces of grating elements 21 and 22 are discontinuous and are formed in part by substantially axially aligned, radially protruding castellations 13 and 14 respectively.
  • the regions of high reflectivity correspond to the areas of maximum radius of the castellations with respect to their mutual central axis 16, that is outer peripheral areas 13a and 14a respectively, and may be smoothly machined, moulded or sintered, or surface treated with paint or material deposition to impart the required high reflectivity.
  • the regions of low reflectivity are angularly aligned with the discontinuous gap areas of the outer cylindrical surfaces of grating elements 21 and 22, namely areas 13b and 14b respectively and, in the embodiment shown here, are substantially non-reflective due to the presence of fully- radially-extending (ie. full depth) cavities 13c and 14c between adjacent castellations 13 and 14 on each grating element 21 and 22 respectively.
  • the cavities may be alternatively truncated at a lesser radius than the aforementioned maximum radius, such resulting surface of lesser radius ideally being machined, moulded or sintered, or surface treated with paint or material deposition to impart low reflectivity.
  • Grating elements 21 and 22 are interdigitally arranged as shown in Fig. 5.
  • This assembly is enclosed in housing 10 and supported by bearings 11 and 12.
  • An EMR source 19 is arranged to illuminate the surfaces, and array 20 of detectors receives incident EMR reflected from the regions of high reflectivity 13a and 14a on the outer cylindrical surfaces of grating elements 21 and 22 respectively.
  • the pattern thus generated on array 19, comprising therefore interdigitally disposed subpatterns generated by incident EMR reflected from regions 13a and 14a respectively, is processed by the processor 9 to provide a measurement of torque.
  • Failsafe mechanism 15, shown in cross section in Fig. 7, limits the maximum torque carried by torsion bar 2 by providing a maximum limit to its angular deflection.
  • element 51 is a feature of torque input member 1a
  • element 52 is a feature of torque input member 1 b, and interact to limit the maximum angular deflection of torsion bar 2.
  • elements 51 and 52 contact rotationally, providing an alternate torsional load path to torsion bar 2.
  • Figs. 8 and 9 show a third embodiment of the present invention.
  • Cylindrical grating elements 25 and 26, each comprising a substantially smooth cylindrical surface with alternating regions of high and low reflectivity, are respectively attached to torque input members 1 a and 1 b, which in turn are connected to either end of torsion bar 2.
  • This assembly is enclosed in housing 10 and supported by bearings 11 and 12.
  • a metallised coating, or other shiny or light coloured material or surface treatment provides substantially axially aligned regions of high reflectivity 25a and 26a.
  • a substantially transparent, roughened or dark coloured material or surface treatment provides the interspaced regions of low reflectivity 25b and 26b.
  • EMR source 19 is arranged to illuminate both surfaces, and the array 20 of detectors receives incident EMR from the surfaces and the pattern thus generated on the array is processed by processor 9 to provide a measurement of torque.
  • Figs. 10 and 11 show a fourth embodiment of the present invention.
  • Grating elements 29 and 30 are surrounded by housing 10 and the assembly carried in bearings 11 and 12.
  • EMR sources 31 and 32 are disposed to illuminate the surfaces.
  • Arrays 33 and 34 of detectors receive incident EMR from the surfaces and the patterns thus generated on the arrays are processed by processor 9.
  • Figs. 12, 13 and 14 show a fifth embodiment of the present invention.
  • Grating elements 35 and 36 comprise radially disposed surfaces arranged perpendicular to, and having a mutual central axis collinear with, axis of rotation 16.
  • the surfaces are formed by axially protruding castellations 37 and 38 respectively, the regions of high reflectivity provided by the areas of maximum axial protrusion 37a and 38a of castellations 37 and 38, and the regions of low reflectivity angularly aligned with the discontinuous gap areas 37b and 38b between the castellations.
  • the root areas 37c and sides 37d of castellations 37, and also the sides 38d of castellations 38 have lesser axial protrusion than regions 37a and 38a and are machined, moulded or sintered, or surface treated with paint or material deposition to impart low reflectivity.
  • the grating elements are interdigitally meshed as shown in Fig. 14. This assembly is enclosed in housing 10 and supported by bearings 11 and 12.
  • An EMR source 39 is arranged to illuminate the surfaces, and an array 40 of detectors receives incident EMR reflected from the surfaces.
  • the pattern thus generated on array 19, therefore comprising interdigitally disposed subpatterns generated by incident EMR reflected from regions 37a and 38a respectively, is processed by the processor 9 to provide a measurement of torque.
  • Figs. 15 and 16 show a sixth embodiment of the present invention.
  • Grating elements 41 and 42 again attached to torque input members 1a and 1b respectively, incorporate continuous radially disposed surfaces 43 and 44. These radially disposed surfaces are substantially coplanar and concentric with respect to axis of rotation 16. Each surface is smooth and incorporates substantially radially disposed alternating regions of high and low reflectivity.
  • a metallised coating, or other shiny or light coloured material or surface treatment provides the regions of high reflectivity 41a and 42a.
  • a substantially transparent, roughened or dark coloured material or surface treatment provides the regions of low reflectivity 41 b and 42b.
  • EMR source 39, array 40 of detectors and processor 9 are used to generate a measurement of torque. Figs.
  • FIG. 17 and 18 show an alternative version of the second embodiment of the present invention (refer back to Figs. 4, 5 and 6).
  • Two grating elements 44 and 45 are adjacent and comprise radially extending intermeshing castellations 44a and 45a which provide a measurement of torque similar to that described in reference to grating elements 21 and 22 of the second embodiment.
  • the clearance provided between castellations 44a and 45a provides a rotational lost motion connection between the first and second torque input members and hence limits the maximum angular deflection of torsion bar 2.
  • Fig. 19 shows an alternative version of the third embodiment of the present invention (refer back to Figs. 8 and 9), however it should be noted that this same concept could be readily applied to any of the embodiments disclosed in this specification.
  • Two grating elements 46 and 47 comprise cylindrical surfaces composed of alternating regions of high and low reflectivity, similar to those as shown in Figs. 8 and 9.
  • at least one additional "home mark" region 48 (or, alternatively not shown, an axially lengthened existing region) of high or low reflectivity is added to one of the surfaces at a predetermined angular position.
  • EMR source 19 is arranged to illuminate both surfaces, and array 20 of detectors receives incident EMR from the surfaces and the patterns thus generated on the array is processed by the processor 9 to provide a measurement of torque and also absolute angular position of the torque input member to which the relevant grating element is attached to or integral with.
  • Figs. 20 - 25 show typical patterns produced by incident EMR on the various array combinations according to the present invention. Note that, for illustration in all these figures, the black-rendered portions correspond to highly illuminated portions of the patterns while the non-rendered (ie. white) portions correspond to low (or essentially non) illuminated portions of the patterns.
  • Fig. 20a and 20b show typical patterns produced by incident EMR on first and second arrays according to the first embodiment of the present invention. In Fig. 20a the arrays are two dimensional arrays, and for example each incorporate a Texas Instruments TC277 Black & White CCD Image Sensor with 699 x 288 pixels and an active window size of approximately 8 mm x 6 mm.
  • Dimension 'x' being the average relative displacement between the patterns on the two arrays, relates directly to the relative angular displacement of the two grating elements and hence to shaft torque.
  • the arrays are one dimensional arrays, and for example each incorporate a Texas Instruments TSL1410 Black & White Linear Array chip with 128 pixels and an active window length of approximately 8 mm.
  • Dimension 'x' is measured similarly however, without the benefits of improved edge delineation provided by the above mentioned two dimensional arrays.
  • a lens for example spherical, aspherical, or Fresnel
  • a fibre optic array light guide is incorporated in front of the EMR sensitive detectors in order that the incident EMR is focussed as a sharp pattern and any spurious cross-reflection is minimised.
  • Fig. 21a and 21 b show typical patterns produced by incident EMR on a single array according to the second embodiment of the present invention.
  • the array is a two dimensional array as described above.
  • Dimension '(x-y)/2' being the average relative displacement between the interdigitally disposed wide and narrow subpatterns 50 and 51 respectively, relates directly to the relative angular displacement of the two grating elements and hence to shaft torque.
  • Fig. 21b shows the pattern in the case of a one dimensional array as described above.
  • Dimension '(x-y)/2' can be measured similarly and the appropriate recognition and processing aspects are well described in International Patent Application PCT/GB95/02017.
  • Fig. 22 shows a typical pattern produced by incident EMR on a single two dimensional array according to the third embodiment of the present invention. Again dimension '(x- y)/2', being the average relative displacement between the two laterally separated subpatterns 52 and 53, relates directly to the relative angular displacement of the two grating elements and hence to shaft torque.
  • Figs. 23a and 23b show typical patterns produced by incident EMR on first and second arrays according to the fourth embodiment of the present invention.
  • the patterns in this case are substantially radially disposed rather than parallel as in the case of the first embodiment shown in Figs. 20a and 20b, still the basic methodology for determination of dimension 'x', and hence shaft torque, is similar for both cases of the arrays being two dimensional or one dimensional.
  • Fig. 24a and 24b show typical patterns produced by incident EMR on a single array according to the fifth embodiment of the present invention.
  • the basic methodology for determination of dimension '(x-y)/2', and hence shaft torque is similar for both cases of two dimensional and one dimensional arrays.
  • Fig. 25 shows a typical pattern produced by incident EMR on a single two dimensional array according to the sixth embodiment of the present invention.
  • Dimension '(x-y)/2' being the average relative displacement between the two radially separated subpatterns 56 and 57, relates directly to the relative angular displacement of the two grating elements and hence to shaft torque.
  • the pattern migrates across the limited width one dimensional or two dimensional array(s) as the shaft rotates, quite independent of shaft torque.
  • the rate of pattern migration and the total displacement of the pattern can be calculated providing a measure of the angular velocity and relative angular position of the torque input members.
  • a "home mark" on the surface of one of the grating elements, as described in reference to Fig. 19, can be used as an absolute angular position reference.
  • the intervening marks can be counted from this home mark position by the processor to provide a measurement of absolute angular position of the torque input member to which the relevant grating element is attached to or integral with.
  • Figs. 26a-e show details of the regions of high and low reflectivity on the cylindrical surfaces of grating elements 58 and 59, according to another alternative version of the third embodiment of the present invention (refer back to Figs. 8 and 9). These regions are arranged in the form of a succession of 120 individual non-overlapping binary bar codes 60a-g.... and 61a-g.... on the periphery of each of the grating elements 58 and 59 respectively. These 120 bar codes are disposed at a uniform 3 degree angular spacing on the periphery of each grating element.
  • Fig 27 shows details of bar code 60a on grating element 58, in order to better describe the bar code format.
  • Each bar code comprises 9 bars in total: one "start” bar 62a, seven “angle position” bars 62b-h, and one "stop” bar 62i.
  • start bar 62a and stop bar 62i are always regions of high reflectivity whereas interposed angle position bars are either regions of high or low reflectivity depending on the binary value of the angle position value to be encrypted.
  • bar code 60a comprises regions of high reflectivity in the form of bars 62c, 62d, and 62f and regions of low reflectivity in the form of bars 62b, 62e, 62g and 62h.
  • Bar code 60a therefore has a binary value of 0110100 or an angle position value of 52 (base 10).
  • the use of seven angle position bars enables theoretically the encryption of up to 128 discrete angle position values which is necessary to encompass and individually identify each of the 120 bar codes on each grating element.
  • Fig. 26a shows the position of grating elements 58 and 59 when zero torque is applied to torque input members 1a and 1b (refer back to Fig. 8). It is seen that bar codes 60a and 61 a, both corresponding to angle position value of 52 on grating elements 58 and 59 respectively, are mutually aligned for this zero torque condition. The same is true for all other 119 bar code pairs 60b and 61 b, 60c and 61c, etc. The method of manufacturing of such successions of bar codes on grating elements, and accurately mutually aligning them at the zero torque condition, is described in a co-pending Australian Provisional Patent Application entitled "Method For Manufacture of Optical Torque Transducers".
  • Figs. 26b-e show successive relative angular displacements of grating elements 58 and 59 as an increasing anticlockwise torque is applied to torque input member 1 b with respect to torque input member 1a.
  • the viewing window of two-dimensional array 20 is also shown superimposed as dotted lines in these diagrams. Note that this viewing window is chosen to be sufficiently large to always capture at least one complete bar code from each of the two grating elements, irrespective of the relative angular displacement of the two grating elements (as a function of input torque) and the absolute rotation angle of the grating elements over their 360 degree possible range (as a function of steering angle).
  • two separate one-dimensional ie.
  • array 20 or arrays 63 and 64 may be embedded in, attached to, or integrated as part of, the microprocessor chip used to carry out the necessary processing, that is processor 9.
  • Array 20 receive incident EMR reflected from the regions of high reflectivity on the surfaces of grating elements 58 and 59 which are instantaneously in the array's (or arrays') viewing window.
  • array 20 receive incident EMR from bar codes 60c and 61c and processor 9 is therefore able to derive relative displacement distance 'd' of the peripheries of respective grating elements 58 and 59 and hence a measure of input torque.
  • Figs. 28a and 28b show the position of grating elements 58 and 59 for two successive relative positions, according to another alternative version of the third embodiment of the present invention (refer back to Figs. 8 and 9).
  • Zero torque is applied to torque input members 1a and 1 b (refer back to Fig. 8) in the case of Fig. 28a.
  • Fig. 28b shows the situation of a torque applied to torque input members 1 a and 1 b producing a relative displacement 'd' of the peripheries of respective grating elements 58 and 59.
  • These regions are arranged in the form of a succession of 512 individual 9 bit binary bar codes 70a-i... and 71a-i...
  • array 20 or arrays 63 and 64 may be embedded in, attached to, or integrated as part of, the microprocessor chip used to carry out the necessary processing, that is processor 9.
  • Array 20 (or arrays 63 and 64) receive incident EMR reflected from the regions of high reflectivity on the surfaces of grating elements 58 and 59 which are instantaneously in the array's (or arrays') viewing window.
  • array 20 (or arrays 63 and 64) receive incident EMR from bar codes 80a-i and 81a-i and processor 9 is therefore able to derive relative displacement distance 'd' of the peripheries of respective grating elements 58 and 59 and hence a measure of input torque.
  • the grating elements 58 and 59 have also net-rotated from the position shown in Fig. 28a, causing the array 20 (or arrays 63 and 64) to receive incident EMR from bar codes 80a-i and 81 a-i, which are displaced from (but still overlap) bar codes 70a-i and 71a-i.
  • the viewing window is chosen to be sufficiently large to always capture at least one complete bar code from each of the two grating elements, irrespective of the relative angular displacement of the two grating elements (as a function of input torque) and the absolute rotation angle of the grating elements over their 360 degree possible range (as a function of steering angle).
  • Fig 29 shows details of bar code 70a-i on grating element 58, in order to better describe the bar code format.
  • Each bar code comprises 9 bars in total.
  • the bars are either regions of high or low reflectivity depending on the binary value of the angle position value to be encrypted.
  • bar code 70a-i comprises regions of high reflectivity in the form of bars 70c, 70e and 70g and regions of low reflectivity in the form of bars 70a, 70b, 70d, 70f , 70h and 70i.
  • Bar code 70a-i therefore has a binary value of 001010100 or an angle position value of 84 (base 10).
  • the use of nine angle position bars enables theoretically the encryption of up to 512 discrete angle position values which is necessary to encompass and individually identify each of the 512 bar codes on each grating element.
  • processor 9 is now also programmed to decode the angle position values of all complete binary bar codes which are in the viewing window at any one time.
  • bar codes 60c and 61c both correspond to angle position value 54.
  • the use of bar codes in general has two significant advantages in the case of the present invention. Firstly, for still larger relative displacements of grating element 58 with respect to grating element 59, the problem of aliasing is avoided. This is readily demonstrated in the case of the bar code embodiment shown in Figs. 26 and 27. In Fig.
  • bar code 60b (angle position value 53) on grating element 58 has displaced a sufficient distance to the right that it now actually lies between bar codes 61c and 61 d (angle position values 54 and 55 respectively) on grating element 59.
  • the correct relative displacement of the grating elements can be calculated as:
  • aliasing may not be a problem and in this case successive bar codes may be employed on only one of the two grating elements. This will still provide sufficient information to provide a measure of absolute angular position over the above mentioned +/-180 deg range.
  • bar codes can be similarly applied to other cylindrical reflective grating element configurations, for example that described in reference to the first embodiment of the present invention (refer to Figs. 1 and 2). Also bar codes can be applied to radially disposed reflective grating element configurations, for example those described in reference to the fourth (Figs. 10 and 11) and sixth (Figs. 15 and 16) embodiments of the present invention.
  • bar codes can take many forms apart form the non- overlapping (discrete) barcode arrangement shown in Figs. 26a-e and Fig. 27, and the overlapping (Ouroborean) barcode arrangement shown in Figs. 28a-b and Fig 29.
  • a classic Manchester barcode arrangement as used on computer hard disk drives
  • a constantly pitched "thick-thin line” barcode arrangement as used on many household consumer products
  • the succession of bar codes could have reverse reflectivity compared to the embodiment described, that is low reflectivity regions imposed over a high reflectivity background, rather than the other way around as described.
  • high reflectivity and low reflectivity is broadly defined in reference to the particular EMR source selected. For example, if a red light EMR source was used, the regions of high and low reflectivity of the surfaces of the reflective gratings may consist of regions which are painted (or otherwise coloured by some means) with a red and blue surface coating respectively.
  • the surfaces of the reflective grating elements may have forms other than the cylindrical or disc-like forms described by way of the above mentioned embodiments.
  • the surfaces of the grating elements can have other three-dimensional axi-symmetric forms about the axis of the shaft, for example conical, elliptoidal , or paraboloidal forms. Any arbitrary axi-symmetric form of surface can potentially be used providing that the deviation of the distance between the surface and the respective array (receiving incident EMR from this surface) is sufficiently small in magnitude, that the afore mentioned lens or fibre optic light guide system can maintain a satisfactory level of focus of the patterns (or subpatterns on the array).

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optical Transform (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

Ce transducteur de couple comporte un arbre rotatif possédant un premier et un second élément d'entrée de couple sensiblement rigides connectés par un couplage s'adaptant en torsion. Ce couplage autorise une déviation angulaire du premier élément d'entrée de couple en fonction de l'importance du couple s'exerçant sur l'arbre. Le transducteur comprend également un premier élément à réseau de diffraction rattaché au premier élément d'entrée de couple ou incorporé à celui-ci et un second élément à réseau de diffraction rattaché au second élément d'entrée de couple ou incorporé à celui-ci. Ces éléments à réseau de diffraction sont pourvus de surfaces constituées de régions à réflectivité élevée ou faible et ce, en alternance, connectées par un couplage s'adaptant en torsion. Ces surfaces sont éclairées par une source de rayonnement électromagnétique (EMR) générant des configurations sur une ou plusieurs mosaïques de détecteurs réagissant à cet EMR. L'agencement des configurations est fonction du couple appliqué à l'arbre et il est possible de traiter la sortie de la mosaïque (ou des mosaïques de détecteurs) pour obtenir une mesure du couple appliqué à l'arbre.
PCT/AU1998/000645 1997-08-15 1998-08-14 Transducteur de couple Ceased WO1999009385A1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
US09/463,980 US6450044B1 (en) 1997-08-15 1998-08-14 Torque transducer
CA002307038A CA2307038A1 (fr) 1997-08-15 1998-08-14 Transducteur de couple
DE69802291T DE69802291T2 (de) 1997-08-15 1998-08-14 Drehmomentwandler
KR10-2000-7001477A KR100482248B1 (ko) 1997-08-15 1998-08-14 토크변환기
BR9811201-5A BR9811201A (pt) 1997-08-15 1998-08-14 Transdutor de torque
EP98938524A EP1004009B1 (fr) 1997-08-15 1998-08-14 Transducteur de couple
JP2000510002A JP2001516013A (ja) 1997-08-15 1998-08-14 トルクトランスデューサ
AU87206/98A AU728346B2 (en) 1997-08-15 1998-08-14 Torque transducer

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
AUPO8566 1997-08-15
AUPO8566A AUPO856697A0 (en) 1997-08-15 1997-08-15 Torque transducer
AUPO9847A AUPO984797A0 (en) 1997-10-17 1997-10-17 Torque transducer
AUPO9847 1997-10-17
AUPP1676 1998-02-05
AUPP1676A AUPP167698A0 (en) 1998-02-05 1998-02-05 Torque transducer
AUPP3142A AUPP314298A0 (en) 1998-04-23 1998-04-23 Torque transducer
AUPP3142 1998-04-23

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
PCT/AU1999/000590 Continuation-In-Part WO2000006973A1 (fr) 1998-07-24 1999-07-21 Codeur d'angle
US74423501A Continuation-In-Part 1997-08-15 2001-04-11

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US10/126,950 Continuation-In-Part US6759648B2 (en) 1997-08-15 2002-04-22 Sensor for sensing absolute angular position of a rotatable body

Publications (1)

Publication Number Publication Date
WO1999009385A1 true WO1999009385A1 (fr) 1999-02-25

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PCT/AU1998/000645 Ceased WO1999009385A1 (fr) 1997-08-15 1998-08-14 Transducteur de couple

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US (1) US6450044B1 (fr)
EP (1) EP1004009B1 (fr)
JP (1) JP2001516013A (fr)
KR (1) KR100482248B1 (fr)
CN (1) CN1192225C (fr)
BR (1) BR9811201A (fr)
CA (1) CA2307038A1 (fr)
DE (1) DE69802291T2 (fr)
ES (1) ES2163879T3 (fr)
WO (1) WO1999009385A1 (fr)

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WO2000028285A1 (fr) 1998-11-10 2000-05-18 Bishop Innovation Limited Capteur optique
US6587211B1 (en) 1999-07-28 2003-07-01 Creo Srl Interferometric torque and power sensor
DE10230347A1 (de) * 2002-07-02 2004-01-22 Valeo Schalter Und Sensoren Gmbh Vorrichtung zum Bestimmen eines Lenkwinkels
GB2387826B (en) * 2001-02-07 2004-05-19 Visteon Global Tech Inc Torque sensing for a steering system
WO2005068962A1 (fr) 2004-01-20 2005-07-28 Valeo Schalter Und Sensoren Gmbh Dispositif pour determiner un angle de braquage et un couple de rotation exerce sur un arbre de direction
WO2018007404A1 (fr) * 2016-07-06 2018-01-11 Robert Bosch Gmbh Dispositif de détection d'un couple et véhicule

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WO2003087779A1 (fr) * 2002-04-08 2003-10-23 Gyros Ab Procede pour position de reference
GB0221695D0 (en) * 2002-09-18 2002-10-30 Transense Technologies Plc Measuring torsional distortion
DE10307965B4 (de) * 2003-02-24 2008-07-17 Sick Ag Optoelektronische Tastvorrichtung
US7559258B2 (en) * 2003-06-12 2009-07-14 Matzoll Robert J Torque sensor using signal amplitude analysis
DE112004001038T5 (de) * 2003-06-12 2006-07-27 Matzoll, Robert J., Deltona Optischer Verschiebungs-Drehmomentsensor
FR2859123B1 (fr) * 2003-08-28 2006-12-01 Frank Et Pignard Ets Arbre equipe d'une bague optique et procede de fabrication de cet arbre
US6909951B2 (en) * 2003-09-12 2005-06-21 Dana Corporation Fail-safe torque transducer system
DE102004031312A1 (de) * 2004-06-29 2006-02-02 Robert Bosch Gmbh Verfahren zum Betreiben einer Antriebseinrichtung
KR100629796B1 (ko) * 2004-09-07 2006-09-28 현대모비스 주식회사 광학방식을 이용한 절대조향각 또는 토크 측정 방법
DE102004061096A1 (de) 2004-12-18 2006-06-22 Ktr Kupplungstechnik Gmbh Verfahren und Vorrichtung zur Durchführung einer Messung an einer Klauenkupplung
US7694357B2 (en) 2005-07-06 2010-04-13 Joanne Alvite Safety bar for a bathtub
US20070145140A1 (en) * 2005-12-09 2007-06-28 Tk Holdings, Inc. Barcode
EP2019302A1 (fr) * 2007-07-27 2009-01-28 General Electric Company Procédé et système pour la détection sans contact du couple d'un arbre
US7784364B2 (en) * 2008-04-28 2010-08-31 Matzoll Robert J Optical sensor for measurement of static and dynamic torque
DE102011085268A1 (de) * 2011-10-27 2013-05-02 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Ermitteln des von einer drehmomentübertragenden Komponente übertragenen Drehmoments sowie drehmomentübertragende Komponente mit einer Messeinrichtung
WO2013065737A1 (fr) 2011-10-31 2013-05-10 日本精工株式会社 Échelle optique, procédé de production d'échelles optiques et codeur optique
CN102393268A (zh) * 2011-11-14 2012-03-28 南京航空航天大学 一种用于测量超高转速叶轮转轴扭矩的装置
US9541382B2 (en) * 2011-12-19 2017-01-10 Kabushiki Kaisha Topcon Rotation angle detecting apparatus and surveying instrument
FR2987085B1 (fr) * 2012-02-20 2014-03-21 Snecma Procede de securisation du fonctionnement d'une turbomachine
US9176024B2 (en) * 2013-10-23 2015-11-03 General Electric Company Systems and methods for monitoring rotary equipment
CN103792035B (zh) * 2014-01-22 2016-06-15 中国矿业大学 一种基于转角测量的提升机主轴扭矩监测装置
DE102014019546B3 (de) * 2014-12-23 2016-05-04 Samson Aktiengesellschaft Federkörper für einen Kraftaufnehmer, wie Drehmoment- und/oder Zugkraft-/Druckkraftmesszelle
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US11060932B2 (en) 2017-07-28 2021-07-13 Prime Photonics, Lc Method and system for sensing high resolution shaft position and axial displacement
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CN114323377B (zh) * 2021-12-24 2024-01-19 阿米检测技术有限公司 一种扭矩测量方法以及扭矩测量装置

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000028285A1 (fr) 1998-11-10 2000-05-18 Bishop Innovation Limited Capteur optique
US6587211B1 (en) 1999-07-28 2003-07-01 Creo Srl Interferometric torque and power sensor
GB2387826B (en) * 2001-02-07 2004-05-19 Visteon Global Tech Inc Torque sensing for a steering system
US6931311B2 (en) 2001-02-07 2005-08-16 Visteon Global Technologies, Inc. Torque sensing for a steering system
DE10296270B4 (de) * 2001-02-07 2008-07-31 Automotive Components Holdings LLC., Plymouth Verfahren zur Stabilisierung eines Lenksystems eines Fahrzeugs
DE10230347A1 (de) * 2002-07-02 2004-01-22 Valeo Schalter Und Sensoren Gmbh Vorrichtung zum Bestimmen eines Lenkwinkels
DE10230347B4 (de) * 2002-07-02 2006-04-20 Valeo Schalter Und Sensoren Gmbh Vorrichtung zum Bestimmen eines Lenkwinkels und eines an einer Lenkwelle ausgeübten Drehmoments
WO2005068962A1 (fr) 2004-01-20 2005-07-28 Valeo Schalter Und Sensoren Gmbh Dispositif pour determiner un angle de braquage et un couple de rotation exerce sur un arbre de direction
WO2018007404A1 (fr) * 2016-07-06 2018-01-11 Robert Bosch Gmbh Dispositif de détection d'un couple et véhicule

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CN1192225C (zh) 2005-03-09
KR100482248B1 (ko) 2005-04-13
CN1276060A (zh) 2000-12-06
EP1004009A4 (fr) 2000-11-02
BR9811201A (pt) 2000-07-25
KR20010022874A (ko) 2001-03-26
US6450044B1 (en) 2002-09-17
DE69802291T2 (de) 2002-07-18
ES2163879T3 (es) 2002-02-01
CA2307038A1 (fr) 1999-02-25
DE69802291D1 (de) 2001-12-06
JP2001516013A (ja) 2001-09-25
EP1004009B1 (fr) 2001-10-31
EP1004009A1 (fr) 2000-05-31

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